#pragma once

#include <iostream>
#include <eigen3/Eigen/Dense>

#include "mi-motor.h"

class RobotMath
{
private:
    miMotor::miReturnData formerData;
public:
    miMotor::miReturnData LowPassFilter(float alpha, miMotor::miReturnData data);

    Eigen::Vector4d LQRCalculator(double legLength);
}inline math;
